IAI America ROBO Cylinder Series - Manual (Page 229)

6. Modbus
ASCII
221
Modbus
6.4.15 Current Speed Query <>
(1) Function
The monitored data of actual motor speed is indicated. The value becomes positive or negative
depending on the operating direction of the motor. The unit is 0.01 mm/sec.
(2) Query format
Field Number of characters ASCII mode character
string (fixed)
Remarks
Header 1 ‘:’
Slave address [H] 2 Arbitrary
Axis number + 1
(01
H
to 10
H
)
Function code [H] 2 ‘0’, ‘3’ Reading registers
Start address [H] 4 ‘9’, ‘0’, ‘0’, ‘A’ Current speed monitor
Number of registers [H] 4 ‘0’, ‘0’, ‘0’, ‘2’
Reading addresses 900A
H
to 900B
H
Error check [H] 2 LRC calculation result
Trailer 2 ‘CR’, ‘LF’
Total number of bytes 17
(3) Response format
A response message contains 16 bits of data per register.
Field Number of characters ASCII mode character
string (fixed)
Remarks
Header 1 ‘:’
Slave address [H] 2 Arbitrary
Axis number + 1
(01
H
to 10
H
)
Function code [H] 2 ‘0’, ‘3’ Reading registers
Number of data bytes [H] 2 ‘0’, ‘4’
Reading 2 registers
= 4 bytes
Data [H] 8 Current speed
Current speed [Hex]
Indicated in units of 0.01
mm/sec.
Error check [H] 2 LRC calculation result
Trailer 2 ‘CR’, ‘LF’
Total number of bytes 19